CN115973394B - Wave glider armoured cable torsion detection untwisting method and device - Google Patents
Wave glider armoured cable torsion detection untwisting method and device Download PDFInfo
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- CN115973394B CN115973394B CN202310279100.1A CN202310279100A CN115973394B CN 115973394 B CN115973394 B CN 115973394B CN 202310279100 A CN202310279100 A CN 202310279100A CN 115973394 B CN115973394 B CN 115973394B
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- 238000004364 calculation method Methods 0.000 claims description 2
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
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Abstract
The invention discloses a wave glider armoured cable torsion detection untwisting method and device, and relates to the technical field of wave glider course correction, wherein the method comprises the steps of calculating course deviation of an underwater tractor and a water surface ship according to course data of the water surface ship and course data of the underwater tractor, interrupting a navigation task when the course deviation is larger than a first set value, and starting a negative rudder untwisting task so as to enable the course of the underwater tractor to turn towards an untwisting direction; when the course deviation is smaller than a second set value, the navigation task is interrupted, and the rudder untwisting task is started, so that the course of the underwater tractor turns towards the untwisting direction. The invention can realize the untwisting operation of the armoured cable and ensure the navigation performance of the wave glider.
Description
Technical Field
The invention relates to the technical field of course correction of wave gliders, in particular to a method and a device for detecting and untwisting of the armoured cable of a wave glider.
Background
The wave glider is used as a marine unmanned equipment, and can realize unmanned autonomous navigation on the sea. The wave glider is a double-body unmanned ship, which mainly comprises a water surface ship body, an armored cable and an underwater tractor, wherein the water surface ship body and the underwater tractor are directly and flexibly connected through the armored cable.
In the navigation process of the wave glider, the wave glider is positioned through the Beidou positioning module, and the expected heading is calculated through a navigation algorithm. The wave glider collects attitude information (such as heading, pitching and rolling values) of the water surface hull and the underwater tractor through a compass, a main control system of the water surface hull calculates a rudder angle of the underwater tractor by adopting a navigation algorithm according to deviation of the heading of the underwater tractor and an expected heading, and then performs rudder operation according to the rudder angle of the underwater tractor to realize heading correction.
In addition, during the sailing of the wave glider, the surface hull and the underwater tractor are inevitably deflected by the disturbance of the sea current, which deflection causes torsion of the armoured cable. When the torsion angle of the armoured cable is too large, the navigation performance of the wave glider can be greatly reduced.
Disclosure of Invention
The invention aims to provide a method and a device for detecting and untwisting an armored cable of a wave glider, which can realize untwisting operation of the armored cable and ensure navigation performance of the wave glider.
In order to achieve the above object, the present invention provides the following.
The invention provides a torsion detection and untwisting method for an armored cable of a wave glider, which comprises the following steps: acquiring course data of a water surface ship body and course data of an underwater tractor; according to the heading data of the water surface hull and the heading data of the underwater tractor, calculating the heading deviation between the underwater tractor and the water surface hull; when the course deviation is larger than a first set value, outputting a first instruction, and transmitting the first instruction to the underwater tractor; the first instruction is used for interrupting a navigation task and starting an negative rudder untwisting task; the negative rudder untwisting task is a task of setting a tail rudder of the underwater tractor as a negative full rudder so as to enable the heading of the underwater tractor to turn towards an untwisting direction; outputting a second instruction and transmitting the second instruction to the underwater tractor when the course deviation is smaller than a second set value; the second instruction is used for interrupting the navigation task and starting the rudder untwisting task; the forward rudder untwisting task is a task of setting a tail rudder of the underwater tractor as a forward rudder so as to enable the heading of the underwater tractor to turn towards an untwisting direction.
The invention also provides a wave glider armoured cable torsion detection untwisting device, which comprises: the data acquisition module is used for acquiring the heading data of the water surface hull and the heading data of the underwater tractor; the course deviation calculation module is used for calculating the course deviation between the underwater tractor and the water surface hull according to the course data of the water surface hull and the course data of the underwater tractor; the first instruction output module is used for outputting a first instruction and transmitting the first instruction to the underwater tractor when the course deviation is larger than a first set value; the first instruction is used for interrupting a navigation task and starting an negative rudder untwisting task; the negative rudder untwisting task is a task of setting a tail rudder of the underwater tractor as a negative full rudder so as to enable the heading of the underwater tractor to turn towards an untwisting direction; the second instruction output module is used for outputting a second instruction and transmitting the second instruction to the underwater tractor when the course deviation is smaller than a second set value; the second instruction is used for interrupting the navigation task and starting the rudder untwisting task; the forward rudder untwisting task is a task of setting a tail rudder of the underwater tractor as a forward rudder so as to enable the heading of the underwater tractor to turn towards an untwisting direction.
According to the specific embodiments provided by the invention, the following technical effects are disclosed.
According to the invention, whether the armored cable is in a large-amplitude torsion situation is determined through the course deviation of the underwater tractor and the water surface ship body, if so, the course of the underwater tractor is turned towards the untwisting direction through the untwisting task of the negative rudder or the untwisting task of the positive rudder, so that the untwisting operation of the armored cable is realized, and the navigation performance of the wave glider is ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a torsion detection and untwisting method for an armored cable of a wave glider according to an embodiment of the invention.
Fig. 2 is a schematic structural diagram of a torsion detection and untwisting device for an armored cable of a wave glider according to an embodiment of the present invention.
Fig. 3 is a schematic structural view of a wave glider according to an embodiment of the present invention.
Fig. 4 is a flowchart of a method for guiding a wave glider, detecting torsion of an armored cable and untwisting according to an embodiment of the present invention.
Fig. 5 is a flow chart of a method for guiding a wave glider, detecting torsion of an armored cable and untwisting according to an embodiment of the invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Embodiment one: as shown in fig. 1, the embodiment of the invention provides a torsion detection and untwisting method for an armored cable of a wave glider, which comprises the following steps.
Step 100: and acquiring the heading data of the water surface hull and the heading data of the underwater tractor.
Step 200: and calculating the heading deviation of the underwater tractor and the water surface hull according to the heading data of the water surface hull and the heading data of the underwater tractor.
Step 300: when the course deviation is larger than a first set value, outputting a first instruction, and transmitting the first instruction to the underwater tractor; the first instruction is used for interrupting a navigation task and starting an negative rudder untwisting task; the negative rudder untwisting task is a task of setting a tail rudder of the underwater tractor as a negative full rudder so as to enable the heading of the underwater tractor to turn towards an untwisting direction.
Step 400: outputting a second instruction and transmitting the second instruction to the underwater tractor when the heading deviation is smaller than a second set value; the second instruction is used for interrupting the navigation task and starting the rudder untwisting task; the forward rudder untwisting task is a task of setting a tail rudder of the underwater tractor as a forward rudder so as to enable the heading of the underwater tractor to turn towards an untwisting direction.
Preferably, the first set value is 360 degrees, and the second set value is-360 degrees.
Further, the wave glider armoured cable torsion detection untwisting method provided by the embodiment of the invention further comprises the following steps: (1) When the tail rudder of the underwater tractor is set to be a negative full rudder and the course deviation is smaller than a third set value, outputting a third instruction and transmitting the third instruction to the underwater tractor; the third instruction is used for starting a navigation task and closing an negative rudder untwisting task.
(2) When the tail rudder of the underwater tractor is set to be a full rudder and the course deviation is larger than a fourth set value, outputting a fourth instruction and transmitting the fourth instruction to the underwater tractor; and the fourth instruction is used for starting the navigation task and closing the rudder untwisting task.
Preferably, the third set value is 10 degrees, and the fourth set value is-10 degrees.
Embodiment two: in order to implement a corresponding method of the above embodiment to achieve the corresponding functions and technical effects, a torsion detection and untwisting device for an armored cable of a wave glider is provided below.
As shown in fig. 2, the wave glider armoured cable torsion detection untwisting device comprises the following modules.
The data acquisition module 1 is used for acquiring the heading data of the water surface ship body and the heading data of the underwater tractor.
The course deviation calculating module 2 is used for calculating the course deviation of the underwater tractor and the water surface hull according to the course data of the water surface hull and the course data of the underwater tractor.
The first instruction output module 3 is used for outputting a first instruction and transmitting the first instruction to the underwater tractor when the heading deviation is larger than a first set value; the first instruction is used for interrupting a navigation task and starting an negative rudder untwisting task; the negative rudder untwisting task is a task of setting a tail rudder of the underwater tractor as a negative full rudder so as to enable the heading of the underwater tractor to turn towards an untwisting direction.
The second instruction output module 4 is used for outputting a second instruction and transmitting the second instruction to the underwater tractor when the course deviation is smaller than a second set value; the second instruction is used for interrupting the navigation task and starting the rudder untwisting task; the forward rudder untwisting task is a task of setting a tail rudder of the underwater tractor as a forward rudder so as to enable the heading of the underwater tractor to turn towards an untwisting direction.
Further, the wave glider armoured cable torsion detection untwisting device provided by the embodiment of the invention further comprises: the third instruction output module is used for outputting a third instruction when the tail rudder of the underwater tractor is set to be a negative full rudder and the course deviation is smaller than a third set value, and transmitting the third instruction to the underwater tractor; the third instruction is used for starting a navigation task and closing an negative rudder untwisting task.
The fourth instruction output module is used for outputting a fourth instruction when the tail rudder of the underwater tractor is set to be a positive rudder and the course deviation is larger than a fourth set value, and transmitting the fourth instruction to the underwater tractor; and the fourth instruction is used for starting the navigation task and closing the rudder untwisting task.
Embodiment III: the embodiment of the invention provides a wave glider which can realize the torsion detection and untwisting effects of armoured cables.
As shown in fig. 3, the wave glider mainly comprises a water surface hull, an armoured cable and an underwater tractor, wherein the water surface hull and the underwater tractor are directly and flexibly connected through the armoured cable. A main control system, a water surface hull compass and a Beidou positioning module are arranged in the water surface hull; an underwater tractor tail rudder and an underwater tractor compass are arranged in the underwater tractor. The shore-based monitoring center communicates with the main control system of the wave glider to realize command and control functions.
The Beidou positioning module is used for acquiring the position information of the wave glider in real time in a navigation task; the water surface ship compass is used for acquiring the ship course and transmitting the ship course to the master control system in a serial port communication mode; the underwater tractor compass is used for acquiring the heading of the underwater tractor and transmitting the heading of the tractor to the main control system in a serial communication mode; the master control system is used for sending the position information of the wave glider, the ship body course and the tractor course to the shore-based monitoring center.
The main control system is also used for starting a navigation task, calculating the heading deviation of the underwater tractor and the water surface ship in real time according to the ship heading and the tractor heading, outputting a rudder command according to the heading deviation of the underwater tractor and the water surface ship, and finally sending the rudder command to the tail rudder of the underwater tractor.
As shown in fig. 4, the first step: the main control system acquires the ship body course and the tractor course in real time; and a second step of: starting a navigation task; and a third step of: the master control system records deviation values in real time, wherein the deviation=tractor course-hull course; fourth step: the deviation is increased in sequence, whether the deviation is larger than 360 degrees is judged, and when the deviation does not exceed 360 degrees, the third step is returned, and the fifth step is carried out: when the deviation exceeds 360 degrees (1 turn of torsion), the navigation task is interrupted, the mark position is set to 0, and the untwisting task is started; sixth step: the tail rudder is set to be in a negative full rudder state, namely, the heading of the water surface ship is taken as a reference, the torsion direction of the underwater tractor is calculated, and the full rudder heading of the underwater tractor is turned in the opposite direction, so that the underwater tractor turns towards the untwisting direction in the full rudder state. Because the wave glider is driven by the underwater tractor, the underwater tractor actively turns, and the water surface ship connected with the armored cable passively turns, the underwater tractor can turn faster than the water surface ship during the active turning, and the active untwisting can be realized through the full rudder of the underwater tractor; seventh step: when the tail rudder is set to be in a negative full rudder state, the main control system records a deviation value in real time, wherein the deviation=tractor course-hull course; eighth step: judging whether the deviation is smaller than 10 degrees; and if not, continuing to set the tail rudder to be in a negative rudder state, namely returning to the sixth step.
Similarly, as shown in fig. 5, the first step is: the main control system acquires the ship body course and the tractor course in real time; and a second step of: starting a navigation task; and a third step of: the master control system records deviation values in real time, wherein the deviation=tractor course-hull course; fourth step: the deviation is reduced in sequence, whether the deviation is smaller than-360 degrees is judged, when the deviation is not smaller than-360 degrees, the third step is returned, and the fifth step is carried out: when the deviation is smaller than-360 degrees, the navigation task is interrupted, the identification position is set to be 0, and the untwisting task is started; sixth step: setting a tail rudder in a full rudder state, namely taking the heading of a water surface ship body as a reference, calculating the torsion direction of the underwater tractor, and turning the full rudder heading of the underwater tractor in the opposite direction, so that the heading of the underwater tractor turns towards the untwisting direction under the full rudder state; seventh step: when the tail rudder is set to be in a normal rudder state, the main control system records a deviation value in real time, wherein the deviation=tractor course-hull course; eighth step: judging whether the deviation is larger than-10 degrees; and if not, continuing to set the tail rudder to be in a normal rudder state, namely returning to the sixth step.
The wave glider can judge and accumulate the course deviation of the water surface hull and the underwater tractor collected by the compass in real time in the navigation process, the tail rudder of the underwater tractor is untwisted, and the automatic untwisting and navigation switching can be realized in an unmanned autonomous environment.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (4)
1. The utility model provides a wave glider armoured cable twists reverse detection method of turning round which characterized in that includes:
acquiring course data of a water surface ship body and course data of an underwater tractor;
according to the heading data of the water surface hull and the heading data of the underwater tractor, calculating the heading deviation between the underwater tractor and the water surface hull;
when the course deviation is larger than a first set value, outputting a first instruction, and transmitting the first instruction to the underwater tractor; the first instruction is used for interrupting a navigation task and starting an negative rudder untwisting task; the negative rudder untwisting task is a task of setting a tail rudder of the underwater tractor as a negative full rudder so as to enable the heading of the underwater tractor to turn towards an untwisting direction;
outputting a second instruction and transmitting the second instruction to the underwater tractor when the course deviation is smaller than a second set value; the second instruction is used for interrupting the navigation task and starting the rudder untwisting task; the front rudder untwisting task is a task of setting a tail rudder of an underwater tractor as a front rudder so as to enable the heading of the underwater tractor to turn towards an untwisting direction;
when the tail rudder of the underwater tractor is set to be a negative full rudder and the course deviation is smaller than a third set value, outputting a third instruction and transmitting the third instruction to the underwater tractor; the third instruction is used for starting a navigation task and closing an negative rudder untwisting task;
when the tail rudder of the underwater tractor is set to be a full rudder and the course deviation is larger than a fourth set value, outputting a fourth instruction and transmitting the fourth instruction to the underwater tractor; the fourth instruction is used for starting a navigation task and closing an orthorudder untwisting task;
wherein the first set value is 360 degrees, and the second set value is-360 degrees.
2. The method of claim 1, wherein the third set value is 10 degrees.
3. The method for detecting torsion of a wave glider armoured cable according to claim 1, wherein the fourth set value is-10 degrees.
4. The utility model provides a wave glider armoured cable twists reverse detection and turns round device, its characterized in that includes:
the data acquisition module is used for acquiring the heading data of the water surface hull and the heading data of the underwater tractor;
the course deviation calculation module is used for calculating the course deviation between the underwater tractor and the water surface hull according to the course data of the water surface hull and the course data of the underwater tractor;
the first instruction output module is used for outputting a first instruction and transmitting the first instruction to the underwater tractor when the course deviation is larger than a first set value; the first instruction is used for interrupting a navigation task and starting an negative rudder untwisting task; the negative rudder untwisting task is a task of setting a tail rudder of the underwater tractor as a negative full rudder so as to enable the heading of the underwater tractor to turn towards an untwisting direction;
the second instruction output module is used for outputting a second instruction and transmitting the second instruction to the underwater tractor when the course deviation is smaller than a second set value; the second instruction is used for interrupting the navigation task and starting the rudder untwisting task; the front rudder untwisting task is a task of setting a tail rudder of an underwater tractor as a front rudder so as to enable the heading of the underwater tractor to turn towards an untwisting direction;
the third instruction output module is used for outputting a third instruction when the tail rudder of the underwater tractor is set to be a negative full rudder and the course deviation is smaller than a third set value, and transmitting the third instruction to the underwater tractor; the third instruction is used for starting a navigation task and closing an negative rudder untwisting task;
the fourth instruction output module is used for outputting a fourth instruction when the tail rudder of the underwater tractor is set to be a positive rudder and the course deviation is larger than a fourth set value, and transmitting the fourth instruction to the underwater tractor; the fourth instruction is used for starting a navigation task and closing an orthorudder untwisting task;
wherein the first set value is 360 degrees, and the second set value is-360 degrees.
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| CN202310279100.1A CN115973394B (en) | 2023-03-22 | 2023-03-22 | Wave glider armoured cable torsion detection untwisting method and device |
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| CN113625544A (en) * | 2021-07-24 | 2021-11-09 | 青岛海舟科技有限公司 | Inner and outer ring PID path tracking control method of wave glider |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20140064026A1 (en) * | 2012-09-04 | 2014-03-06 | Apache Corporation | Wave glider with streamer orientation sensor |
| CN111366962A (en) * | 2020-03-12 | 2020-07-03 | 国家深海基地管理中心 | Deep open sea low-cost long-endurance collaborative navigation positioning system |
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- 2023-03-22 CN CN202310279100.1A patent/CN115973394B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11139392A (en) * | 1997-11-07 | 1999-05-25 | Nec Corp | Method for controlling rudder of underwater sailing body |
| CN106990787A (en) * | 2017-05-16 | 2017-07-28 | 哈尔滨工程大学 | Wave glider destination tracking from a kind of upper lower body bow to information fusion |
| CN107942095A (en) * | 2017-11-15 | 2018-04-20 | 哈尔滨工程大学 | Wave glider actual heading Forecasting Methodology |
| CN111176292A (en) * | 2020-01-13 | 2020-05-19 | 天津工业大学 | Wave glider path tracking control method based on side margin |
| CN113625544A (en) * | 2021-07-24 | 2021-11-09 | 青岛海舟科技有限公司 | Inner and outer ring PID path tracking control method of wave glider |
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